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   <div id="projectname">1€ filter for Arduino<span id="projectnumber">&#160;1.0.0</span>
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   <div id="projectbrief">Algorithm to filter noisy signals for high precision and responsiveness.</div>
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<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li>  </ul>
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  <div class="headertitle"><div class="title">1euroFilter.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/* -*- coding: utf-8 -*-</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment"> *</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment"> * 1euroFilter.h -</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment"> *</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment"> * Authors: </span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment"> * Nicolas Roussel (nicolas.roussel@inria.fr)</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment"> * Géry Casiez https://gery.casiez.net</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment"> *</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment"> * Copyright 2019 Inria</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment"> * </span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment"> * BSD License https://opensource.org/licenses/BSD-3-Clause</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment"> *</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment"> * modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment"> *</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="comment"> *  1. Redistributions of source code must retain the above copyright notice, this list of conditions</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment"> * and the following disclaimer.</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment"> *</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment"> * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment"> * and the following disclaimer in the documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment"> * </span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment"> * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment"> * promote products derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment"></span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, </span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment"> * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment"> * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment"> * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN </span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment"> * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="comment"> *</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="comment"> */</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#if (ARDUINO &gt;= 100)</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &lt;Arduino.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#include &lt;WProgram.h&gt;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#include &lt;inttypes.h&gt;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#ifndef ONEEUROFILTER</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define ONEEUROFILTER</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">// -----------------------------------------------------------------</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">// Utilities</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">typedef</span> <span class="keywordtype">float</span> TimeStamp ; <span class="comment">// in seconds</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="keyword">static</span> <span class="keyword">const</span> TimeStamp UndefinedTime = -1.0 ;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="comment">// -----------------------------------------------------------------</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="preprocessor">#define DEFAULT_FREQUENCY   120   </span><span class="comment">// [Hz] default frequency of your incoming noisy data</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="preprocessor">#define DEFAULT_MINCUTOFF   1.0   </span><span class="comment">// [Hz] needs to be tuned</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="preprocessor">#define DEFAULT_BETA        0   </span><span class="comment">// Needs to be tuned</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="preprocessor">#define DEFAULT_DCUTOFF     1.0   </span><span class="comment">// [Hz] should not be changed</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="class_low_pass_filter.html">   60</a></span><span class="keyword">class </span><a class="code hl_class" href="class_low_pass_filter.html">LowPassFilter</a> {</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <span class="keywordtype">float</span> y, a, s ;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  <span class="keywordtype">bool</span> initialized ;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>  <span class="keywordtype">void</span> setAlpha(<span class="keywordtype">float</span> alpha);</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>  <a class="code hl_class" href="class_low_pass_filter.html">LowPassFilter</a>(<span class="keywordtype">float</span> alpha, <span class="keywordtype">float</span> initval=0.0) ;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  <span class="keywordtype">float</span> filter(<span class="keywordtype">float</span> value) ;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  <span class="keywordtype">float</span> filterWithAlpha(<span class="keywordtype">float</span> value, <span class="keywordtype">float</span> alpha) ;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keywordtype">bool</span> hasLastRawValue(<span class="keywordtype">void</span>) ;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>  <span class="keywordtype">float</span> lastRawValue(<span class="keywordtype">void</span>) ;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>  <span class="keywordtype">float</span> lastFilteredValue(<span class="keywordtype">void</span>) ;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>} ;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span><span class="comment">// -----------------------------------------------------------------</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html">   85</a></span><span class="keyword">class </span><a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a> {</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>  <span class="keywordtype">float</span> freq ;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>  <span class="keywordtype">float</span> mincutoff ;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="keywordtype">float</span> beta_ ;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>  <span class="keywordtype">float</span> dcutoff ;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>  <a class="code hl_class" href="class_low_pass_filter.html">LowPassFilter</a> *x ;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>  <a class="code hl_class" href="class_low_pass_filter.html">LowPassFilter</a> *dx ;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>  TimeStamp lasttime ;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  <span class="comment">// implicitly implemented, not to be used</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a>&amp;);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  <a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a>&amp; operator=(<span class="keyword">const</span> <a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a>&amp;);</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>  <span class="keywordtype">float</span> alpha(<span class="keywordtype">float</span> cutoff) ;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  <span class="keywordtype">void</span> setDerivateCutoff(<span class="keywordtype">float</span> dc) ;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  <span class="keyword">explicit</span> <a class="code hl_class" href="class_one_euro_filter.html">OneEuroFilter</a>(<span class="keywordtype">float</span> freq = DEFAULT_FREQUENCY, </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="keywordtype">float</span> mincutoff=DEFAULT_MINCUTOFF, <span class="keywordtype">float</span> beta_=DEFAULT_BETA, <span class="keywordtype">float</span> dcutoff=DEFAULT_DCUTOFF) ;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html#a8eb5abcd35e41987a5cd0d87983790a2">  115</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="class_one_euro_filter.html#a8eb5abcd35e41987a5cd0d87983790a2">begin</a>(<span class="keywordtype">float</span> freq, </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordtype">float</span> mincutoff=1.0, <span class="keywordtype">float</span> beta_=0.0, <span class="keywordtype">float</span> dcutoff=1.0) ;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html#ac2b89e7b9f5d6d7f5477b068288ccb8f">  122</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="class_one_euro_filter.html#ac2b89e7b9f5d6d7f5477b068288ccb8f">setFrequency</a>(<span class="keywordtype">float</span> f) ;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html#a3155e00c9c8d3c426f466f2e06c5513c">  128</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="class_one_euro_filter.html#a3155e00c9c8d3c426f466f2e06c5513c">setMinCutoff</a>(<span class="keywordtype">float</span> mc) ;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html#aa50a248ba2911f9c8d1a224013356339">  134</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="class_one_euro_filter.html#aa50a248ba2911f9c8d1a224013356339">setBeta</a>(<span class="keywordtype">float</span> b) ;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="class_one_euro_filter.html#ace180addce61fae62866f19a27f65e46">  142</a></span>  <span class="keywordtype">float</span> <a class="code hl_function" href="class_one_euro_filter.html#ace180addce61fae62866f19a27f65e46">filter</a>(<span class="keywordtype">float</span> value, TimeStamp timestamp=UndefinedTime) ;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>  <a class="code hl_class" href="class_one_euro_filter.html">~OneEuroFilter</a>(<span class="keywordtype">void</span>) ;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>} ;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_low_pass_filter_html"><div class="ttname"><a href="class_low_pass_filter.html">LowPassFilter</a></div><div class="ttdef"><b>Definition:</b> 1euroFilter.h:60</div></div>
<div class="ttc" id="aclass_one_euro_filter_html"><div class="ttname"><a href="class_one_euro_filter.html">OneEuroFilter</a></div><div class="ttdef"><b>Definition:</b> 1euroFilter.h:85</div></div>
<div class="ttc" id="aclass_one_euro_filter_html_a3155e00c9c8d3c426f466f2e06c5513c"><div class="ttname"><a href="class_one_euro_filter.html#a3155e00c9c8d3c426f466f2e06c5513c">OneEuroFilter::setMinCutoff</a></div><div class="ttdeci">void setMinCutoff(float mc)</div><div class="ttdoc">Sets the filter min cutoff frequency.</div></div>
<div class="ttc" id="aclass_one_euro_filter_html_a8eb5abcd35e41987a5cd0d87983790a2"><div class="ttname"><a href="class_one_euro_filter.html#a8eb5abcd35e41987a5cd0d87983790a2">OneEuroFilter::begin</a></div><div class="ttdeci">void begin(float freq, float mincutoff=1.0, float beta_=0.0, float dcutoff=1.0)</div><div class="ttdoc">Creates the filter and set its parameters.</div></div>
<div class="ttc" id="aclass_one_euro_filter_html_aa50a248ba2911f9c8d1a224013356339"><div class="ttname"><a href="class_one_euro_filter.html#aa50a248ba2911f9c8d1a224013356339">OneEuroFilter::setBeta</a></div><div class="ttdeci">void setBeta(float b)</div><div class="ttdoc">Sets the Beta parameter.</div></div>
<div class="ttc" id="aclass_one_euro_filter_html_ac2b89e7b9f5d6d7f5477b068288ccb8f"><div class="ttname"><a href="class_one_euro_filter.html#ac2b89e7b9f5d6d7f5477b068288ccb8f">OneEuroFilter::setFrequency</a></div><div class="ttdeci">void setFrequency(float f)</div><div class="ttdoc">Sets the frequency of the signal.</div></div>
<div class="ttc" id="aclass_one_euro_filter_html_ace180addce61fae62866f19a27f65e46"><div class="ttname"><a href="class_one_euro_filter.html#ace180addce61fae62866f19a27f65e46">OneEuroFilter::filter</a></div><div class="ttdeci">float filter(float value, TimeStamp timestamp=UndefinedTime)</div><div class="ttdoc">Filter the noisy signal.</div></div>
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